Bionic floating platform operation method and bionic floating platform

Abstract

The invention provides a bionic floating platform operation method and a bionic floating platform. The method provided by the invention comprises the following steps: initializing a bionic floating platform, receiving an operation task, and judging the validity of the operation task; if the operation task is valid, determining a flight path according to the operation task and the adjusted initial configuration; calculating a flight control instruction according to the flight path; predicting the yaw degree of the flight path; determining an adjustment margin based on the yaw degree of the flight path; constructing a multi-target cost function with the lowest adjustment energy consumption sum and the shortest adjustment time of each flight wing; the multi-target cost function is solved, an optimal control instruction is obtained, the flight attitude of the bionic floating platform is controlled according to the control instruction, and when the bionic floating platform completes the operation task, the deviation between the actual flight path and the flight path is smaller than a safety threshold value. According to the bionic floating platform operation method and the bionic floating platform, the bionic floating platform which is more flexible and easy to control is provided.

Description

Technical Field

[0001] This application relates to the technical field of aerostats, and in particular, to a bionic floating platform operation method and a bionic floating platform. Background Art

[0002] Relying on its unique advantages, the floating platform can collect large-scale environmental information continuously and in real time for a long time, and accurately provide reference parameters and solutions for various sea-related application scenarios, such as sea observation, early warning detection, communication relay, and even maritime network coverage. However, the floating platform itself has certain limitations. On the one hand, due to its light weight, it is vulnerable to air flow impact in the air, making it difficult to maintain its flight attitude and flight trajectory. On the other hand, traditional countermeasures mostly use a tethered method to fix the floating platform. Although it ensures the operation stability to a certain extent, it also limits the movement range and flexibility of the platform. For untethered floating platforms, currently, they generally rely on propellers to drive for movement control. This method has a slow movement speed, is difficult to meet the requirements of rapid response, and has poor control flexibility, unable to achieve high-precision and agile control of the flight state of the floating platform. Moreover, the propeller drive will bring great high-frequency noise to the floating platform, affecting the accurate sensing ability of the millimeter-wave radar payload. Summary of the Invention

[0003] In view of this, this application provides a bionic floating platform operation method and a bionic floating platform, aiming to provide a more flexible and easy-to-control bionic floating platform.

[0004] Specifically, this application is implemented through the following technical solutions: In the first aspect of this application, a bionic floating platform operation method is provided, and the method includes: Initialize the bionic floating platform, where the bionic floating platform includes a floating system and an action system arranged outside the floating system to drive the floating system to fly, and the action system includes multiple different types of flight wings; Receive an operation task, and judge the effectiveness of the operation task based on the state information after initialization of the bionic floating platform and the real-time environment information; If the operation task is effective, adjust the initialization configuration information of the bionic floating platform according to the judgment result, and determine the flight path according to the operation task and the adjusted initialization configuration; Calculate flight control instructions according to the flight path, control the action of the action system, and drive the bionic floating platform to fly; Real-time monitor the real-time environmental parameters of the bionic floating platform, and predict the yaw degree of the flight path based on the real-time environmental parameters and the real-time flight state parameters of the bionic floating platform; Determine an adjustment margin based on the yaw degree of the flight path, where the adjustment margin is the adjustment amount of the flight direction; Calculate the energy consumption adjustment efficiency of each flight wing, and construct a multi-objective cost function with the lowest energy consumption adjustment and the shortest adjustment time for each flight wing; Solve the multi-objective cost function to obtain an optimal control instruction, where the optimal control instruction is the attitude adjustment direction and attitude adjustment amplitude of each flight wing; Control the flight attitude of the bionic floating platform according to the control instruction, so that when the bionic floating platform completes the operation task, the deviation between the actual flight path and the flight path is less than the safety threshold.

[0005] A second aspect of the present application provides a bionic floating platform, which includes a floating system and an action system; The floating system is used to provide buoyancy support and load equipment; The action system is used to drive the floating system to fly.

[0006] A heating module is installed inside the floating system, and the heating module is used to heat the gas inside the floating system to increase the buoyancy of the bionic floating platform; A battery compartment and a slide rail are also installed inside the floating system. The battery compartment is installed on the slide rail. The battery compartment is used to store electrical energy and change the center of gravity of the bionic floating platform. When the bionic floating platform needs to perform a gliding action, the battery compartment moves forward through the slide rail to lower the center of gravity of the bionic floating platform, so that the bionic floating platform glides downward.

[0007] The bionic floating platform operation method and bionic floating platform provided by the present application can ensure that each system is in a normal working state by initializing the bionic floating platform, provide a stable basis for the subsequent task execution, and judge the effectiveness of the operation task based on the state information and real-time environmental information after the platform is initialized, and can screen out the tasks that cannot be completed in advance, avoid waste of resources, and improve the rationality of task planning. Only tasks that can be effectively executed are started, making the entire operation process more scientific, reducing equipment loss and task delays caused by unreasonable task arrangements. Secondly, the effectiveness of the operation task is judged, and the initialization configuration information is adjusted according to the judgment result, so that the bionic floating platform can better adapt to the task requirements and environmental characteristics, and then determine the flight path according to the operation task and the adjusted configuration, so that the path planning is more targeted, and finally calculate the flight control instructions according to the flight path and control the action system action, so as to achieve precise flight control. According to the requirements of the path, the action of each flying wing can be accurately controlled, so that the floating platform can fly according to the predetermined route, which improves the accuracy and efficiency of the flight. Through precise control instructions, the platform can fly to the target position more accurately, and reasonably use energy during the flight process, reducing unnecessary flight distance and energy consumption. Furthermore, during the flight, the bionic floating platform is adjusted for flight attitude and path correction, and the environmental parameters and flight status parameters are monitored in real time. The changes in the flight process can be grasped in time, and the adjustment margin can be determined according to the degree of flight path yaw. The adjustment amount of the flight direction can be quantified, making the attitude adjustment more accurate. The energy consumption efficiency of each flight wing adjustment is calculated and a multi-objective cost function is constructed. The energy consumption and time cost in the adjustment process are considered. The multi-objective cost function is solved to obtain the optimal control instruction. While ensuring the effective adjustment of the flight attitude, the energy consumption and adjustment time are optimized, and energy-saving and efficient flight attitude adjustment is achieved. In the process of correcting the flight attitude, the optimal energy consumption and adjustment time are selected, which prolongs the endurance of the platform and improves the timeliness of the adjustment, so that the platform can return to the correct flight path faster. On the whole, the deviation between the actual flight path and the planned flight path is less than the safety threshold, which can ensure that the platform completes the task safely and accurately, and improves the quality and reliability of the task. Whether it is data collection, material transportation or other tasks, they can be completed within the specified requirements and safety range, enhancing the practicality of the bionic floating platform in various operation scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 A flow chart of Embodiment 1 of the bionic floating platform operation method provided in this application; Figure 2 This is a schematic diagram of the structure of a bionic floating platform exemplified in this application.

[0009] Description of reference numerals: 1: Floating system; 2: Action system; 3: Solar panel; 4: Battery compartment; 5: Communication module; 6: Millimeter-wave radar module; 7: Optical detector; 8: Satellite positioning module; 9: Battery compartment slide rail. Detailed implementation manners

[0010] Here, the exemplary embodiments will be described in detail, and the examples are shown in the accompanying drawings. When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation manners described in the following exemplary embodiments do not represent all implementation manners consistent with the present application.

[0011] The terms used in the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. The singular forms "a", "the" and "said" used in the present application are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0012] It should be understood that although the terms first, second, third, etc. may be used in the present application to describe various information, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "when" or "while" or "in response to a determination".

[0013] The following specific embodiments are given to introduce the technical solutions of the present application in detail.

[0014] Figure 1 is a flowchart of the first embodiment of the bionic floating platform operation method provided for the present application. Please refer to Figure 1 , the method provided in this embodiment may include: S101. Initialize the bionic floating platform, where the bionic floating platform includes a floating system and an action system disposed outside the floating system and driving the floating system to fly, and the action system includes multiple different types of flying wings.

[0015] It should be noted that the bionic floating platform operation method is applied to the bionic floating platform. First, a brief introduction to the structure of the bionic floating platform is given below: The floating system is filled with gas, making the weight of the bionic floating platform less than the gravity it receives. The floating system rises by generating lift through the flight wings, and the work done by the flight wings during the rising process is less than the work required to lift an object to the same height; A variable volume structure is provided in the abdominal area of the floating system. The variable volume structure is used to change the volume of the abdominal area, and the work done by the flight wings to drive the floating system to fly to the same height is different at different volumes; The multiple different types of flight wings at least include: a first flapping wing, a second flapping wing, a wing, and a tail wing; the wings are symmetrically installed on both sides of the floating system, the first flapping wing is symmetrically installed on the wings, the second flapping wing is installed at the tail of the floating system, and the tail wing is installed in the area near the tail on the back of the floating system.

[0016] Specifically, Figure 2 The following is a schematic diagram of the structure of the bionic floating platform exemplarily shown in this application. Please refer to Figure 2 , the bionic floating platform includes a floating system 1 and an action system 2. The floating system 1 is filled with a gas with a density smaller than that of air in the airbag, so as to generate a buoyancy force that enables the bionic floating platform to float in the air, so that the entire bionic floating platform can float in the air, and this buoyancy force is less than the gravity received by the bionic floating platform. The overall shape of this bionic floating platform is in the streamlined shape of a wild goose to reduce the influence of the near-air wind field on the floating system. The floating system 1 constitutes the body of the wild goose, and the action system 2 constitutes the wings of the wild goose.

[0017] Furthermore, the floating system 1 is filled with gas, making the weight of the bionic floating platform less than the air buoyancy force it receives. The gas filled in the floating system can be hydrogen, helium, hot air, or a mixed gas of multiple gases. In this embodiment, it is not limited. It should be noted that the density of the gas filled in the floating system needs to be less than the density of air. Furthermore, the flight wings generate lift through flapping wing movements to control the movement of the bionic floating platform in the air, and achieve flight operations such as rising with relatively small energy consumption, improving the energy efficiency of the entire flight process.

[0018] Furthermore, a variable-volume structure is provided in the abdominal region of the floating system, which is used to change the volume of the abdominal region, so as to adjust the overall buoyancy of the floating system. For example, when the bionic floating platform needs to rise, the buoyancy received by the floating system at different volumes is different. By controlling the gas volume in the abdominal region of the floating system, the bionic floating platform can be promoted to float or descend. On the other hand, combined with the movement of the flight wings, the attitude of the platform in the air can be better controlled to maintain balance and stability and cope with the interference in different flight stages and external airflows.

[0019] Furthermore, the wings are symmetrically installed on both sides of the floating system. During flight, the wings mainly play the role of generating lift and maintaining the lateral stability of the platform. When the platform flies forward, the airflows on the upper and lower surfaces of the wings have different flow velocities. According to Bernoulli's principle, an upward lift is generated to ensure that the total lift of the platform is equal to the gravity, enabling the platform to fly steadily at a certain height in the air. At the same time, it also helps to resist lateral airflow interference, preventing the platform from easily tipping over or other unstable situations. The first flapping wing is symmetrically installed on the wing. The movement mode of the first flapping wing is closer to the flapping of a bird's wing. This flapping action can provide additional and flexible lift and propulsion force in specific flight scenarios (such as when rapid height change or flight direction adjustment is required). Parameters such as the flapping frequency and angle of the flapping wing can be adjusted according to actual flight requirements to enhance the mobility and controllability of the bionic floating platform in the air. The second flapping wing is installed at the tail of the floating system, and its flapping can affect the airflow at the tail of the bionic floating platform, mainly used to assist the propulsion system to move forward. The tail wing is installed on the back of the floating system near the tail region, and together with the wing, it ensures good stability during flight. Generally speaking, the floating system cooperates with various flight wings, integrating functions such as buoyancy, different types of lift, and the control of attitude and direction by each flight wing, realizing the efficient, stable and flexible flight of the bionic floating platform. The first flapping wing has strong mobility and has the functions of lifting, hovering and propulsion, and can fly long distances with very little energy. The wing and the tail wing can be filled with buoyant gas, and the first flapping wing and the second flapping wing can be made of materials such as lightweight and high-strength foam.

[0020] Furthermore, the first flapping wing has a 180° steering function, which can not only perform up-and-down flapping wing movements, but also perform front-and-back flapping wing movements. It can be used to modulate the up-and-down height of the bionic floating platform, and can also be used to adjust the movement direction and maintain the attitude balance of the system. When the bionic floating platform makes a gliding movement, the first flapping wings on both sides do not flap, and the bionic floating platform as a whole can be regarded as a glider. The bionic floating platform uses the center-of-gravity adjustment system to change the position of the center of gravity of the bionic floating platform, thereby changing the height postures of the head and tail of the floating platform, and further changing the height during gliding. When the bionic floating platform flies upward or maintains balance, the first flapping wings on both sides actively flap under the drive of the motor. The direction of the first flapping wing can be adjusted in real time according to the instructions of flying upward or moving forward.

[0021] Furthermore, please continue to refer to Figure 2 , the bionic floating platform further includes a solar panel 3, a battery compartment 4, a communication module 5, a millimeter-wave radar module 6, an optical detector 7, a satellite positioning module 8, and a battery compartment slide rail 9. Among them, the solar panel 3 is installed on the upper surface of the floating system 1 to charge the battery compartment 4 and provide power for the bionic floating platform; the communication module 5 is installed on the tail wing to transmit data to the ground station; the millimeter-wave radar module 6 and the optical detector 7 are installed at the head of the floating system to sense and observe the environment; the satellite positioning module 8 is installed on the tail wing to obtain the position information of the bionic floating platform; the battery compartment slide rail 9 is installed under the battery compartment 4 to enable the battery compartment 4 to move back and forth, thereby changing the center of gravity of the bionic floating platform.

[0022] Furthermore, initializing the bionic floating platform includes: (1) Obtain the remaining power and position coordinates of the bionic floating platform at the current position.

[0023] Specifically, through the power sensor in the bionic floating platform, obtain the remaining power of the bionic floating platform. Determine the current position coordinates of the bionic floating platform through GPS, set the current position as the coordinate origin (0, 0), and record the current initial height information to provide a reference point for subsequent flight path planning and position control. At the same time, combine the satellite positioning module to obtain the current geographical coordinate information (longitude and latitude) for calculation and comparison with the target position coordinates to determine the flight direction and distance.

[0024] (2) The bionic floating platform conducts self-check to check whether the functions of each hardware are normal.

[0025] Specifically, the bionic floating platform conducts a comprehensive self-check on the entire system, including checking the structural integrity of the floating system (such as checking whether there are damages or leaks in the airbag, frame, etc.), the function detection of each sensor (such as GPS, altimeter, speed sensor, accelerometer, magnetometer, environmental sensor, etc.), the initial state detection of the mechanical components of the motion system (such as flight wings, link mechanisms, drive motors, etc.), and the power and circuit connection checks of the energy system (such as battery compartments, flexible solar panels, charging interfaces, etc.). Through a series of preset detection procedures and diagnostic algorithms, it ensures that all parts of the system are in normal working conditions and can perform subsequent tasks safely and reliably. After the self-check is completed, the bionic floating platform establishes a wireless communication connection with the ground station through the communication antenna and sends the self-check results to the ground station in a specific data format. The ground station analyzes and judges the received information. If there are abnormal situations in the system, the ground station prompts the operator to conduct corresponding fault troubleshooting and repair according to the error code or diagnostic information; if the system is normal, it proceeds to the next step to prepare to receive task instructions.

[0026] Furthermore, a detailed inspection is carried out on multiple different types of flight wings in the motion system (such as flapping wings, wings, tail wings, etc.), including the structural integrity of the flight wings (checking whether there are damages or deformations on the wing surfaces, whether the connection parts are firm, etc.), the working state of the drive motors (testing whether the motors rotate smoothly, whether there are abnormal noises or vibrations, and checking whether the power supply lines and control signal connections of the motors are normal), the connection reliability of the transmission mechanisms (such as connecting rods, steel wires, etc.), and whether the initial angles and positions of the flight wings are correct (ensuring that each flight wing is in the preset initial posture, for example, the first flapping wing is in the retracted or balanced position, and the angles of the wings and tail wings meet the takeoff requirements, etc.). By combining manual visual inspection and automatic detection procedures, potential problems in the flight wing system are comprehensively investigated.

[0027] (3) If the functions of all hardware are normal, transmit the remaining power and the position coordinates to the ground station, and the ground station configures the operation task for the bionic floating platform according to the remaining power and the position coordinates.

[0028] Specifically, after determining that the functions of all hardware are normal, the remaining power and position coordinates are transmitted to the ground station. Based on these key information received, the ground station comprehensively considers various factors (such as the overall operation plan, the surrounding environmental conditions, the status of other collaborative devices, etc.) to configure a suitable operation task for the bionic floating platform. For example, if the remaining power is sufficient and the platform is near the target monitoring area, the ground station may configure a detailed environmental monitoring task for it, requiring it to collect relevant environmental data using the onboard sensors and transmit them regularly, etc.

[0029] S102. Receive a job task and determine the validity of the job task based on the state information after initialization of the bionic floating platform and the real-time environment information.

[0030] Specifically, to determine the validity of the job task, it includes: (1) Calculate the operation distance according to the target position in the job task and the position coordinates. Specifically, the job task carries the target position information that the bionic floating platform needs to reach at the start of the operation. According to the current position coordinates and the target position coordinates, the operation distance can be calculated. For the implementation process of calculating the operation distance, please refer to the description in the related technology and will not be elaborated here.

[0031] (2) Obtain the environmental information of the area through which the operation distance passes, and calculate the regional environmental value according to the environmental information.

[0032] Specifically, the environmental information of the area through which the operation distance passes can be obtained through pre-stored geographical information data (such as terrain, whether there is a no-fly zone, etc.) and various environmental sensors carried on the bionic floating platform (real-time monitoring of meteorological information such as wind speed, wind direction, temperature, humidity, air pressure, etc.). Quantify the obtained numerous environmental information and comprehensively calculate a value that can reflect the degree of influence of the overall environmental conditions of this passing area on flight, that is, the regional environmental value.

[0033] In specific implementation, for each environmental information, quantify it according to the pre-set quantization value of each environmental information. After obtaining the quantization value of each environmental information, perform a weighted sum of each environmental information to obtain the regional environmental value. For example, in a possible implementation, the environmental information includes three factors: wind speed, temperature, and airspace restriction. The wind speed quantization value is 3, the weight is 0.4, the temperature quantization value is 1, the weight is 0.3, and the airspace restriction quantization value is 2, the weight is 0.3. Then the regional environmental value = 0.4 * 3 + 0.3 * 1 + 0.3 * 2 = 2.1.

[0034] (3) Calculate the remaining endurance mileage of the bionic floating platform according to the remaining power of the bionic floating platform.

[0035] Specifically, based on the current remaining power situation of the bionic floating platform, combined with the energy consumption model of the bionic floating platform (this model is usually obtained through a large number of experimental tests in the early stage, knowing the mileage that the bionic floating platform can fly per unit of electricity under different flight states, such as different speeds, altitudes, loads, etc.), calculate the mileage that the bionic floating platform can continue to fly under the existing power conditions, that is, the remaining endurance mileage, through the product of the power and the endurance mileage per unit of electricity.

[0036] (4) Using the remaining endurance mileage as the first evaluation index, evaluate the operation distance using the first evaluation index to obtain a first evaluation result.

[0037] Specifically, take the remaining endurance mileage as the first evaluation index to measure whether the bionic floating platform can perform the operation task. Compare the operation distance with the remaining endurance mileage. If the remaining endurance mileage is greater than or equal to the operation distance, the first evaluation result is that the operation task is valid. If the remaining endurance mileage is less than the operation distance, it means that it is impossible to fly to the target position only relying on the existing power, and the first evaluation result is that the operation task is invalid.

[0038] (5) Using the regional environment value threshold as the second evaluation index, evaluate the regional environment value using the second evaluation index to obtain a second evaluation result.

[0039] Specifically, the regional environment threshold is pre-set according to actual needs and is not limited in this embodiment. The regional environment threshold represents the limit value of the environmental severity that the bionic floating platform can withstand. Compare the calculated regional environment value with the regional environment threshold. If the regional environment value is less than or equal to the regional environment threshold, it means that the environmental conditions of the passing area are within the acceptable range of the bionic floating platform, and the second evaluation result is that the operation task is valid. If the regional environment value is greater than the regional environment threshold, it indicates that the environmental impact on flight in this area is too large and exceeds the range that the bionic floating platform can handle, and the second evaluation result is that the operation task is invalid.

[0040] (6) Combine the first evaluation result and the second evaluation result to judge the effectiveness of the operation task.

[0041] Specifically, comprehensively consider the first evaluation result (judgment from the perspective of power endurance) and the second evaluation result (judgment from the perspective of regional environment) to determine whether the operation task is valid. If any one of the two evaluation results is that the operation task is invalid, then judge that the operation task is invalid. Only when both the first evaluation result and the second evaluation result are that the operation task is valid, judge that the operation task is valid.

[0042] S103. If the operation task is valid, adjust the initial configuration information of the bionic floating platform according to the judgment result, and determine the flight path according to the operation task and the adjusted initial configuration.

[0043] Specifically, when the operation task is valid, based on the initial state information and environmental information of the bionic floating platform in step S102, specifically decompose the execution task of the floating platform. The execution task can be decomposed into four parts: the floating system rising, the floating system descending, the floating system advancing, and the attitude adjustment.

[0044] Further, according to the specific operation task requirements (such as the location of the target area to be monitored, the starting and ending points of material transportation, etc.) and the adjusted platform initialization configuration, a suitable flight path is determined through a path planning algorithm. For the specific implementation process of planning the flight path through the path planning algorithm, please refer to the description in the related technology and will not be elaborated here.

[0045] S104. Calculate flight control instructions according to the flight path, control the action system to act, and drive the bionic floating platform to fly.

[0046] Specifically, calculating flight control instructions according to the flight path includes: (1) Take the current position of the bionic floating platform as the origin, and calculate the target position coordinates and travel distance according to the longitude and latitude information.

[0047] Specifically, to calculate the longitude difference and latitude difference between the target position and the current position, the longitude difference and latitude difference can be calculated through the following formula: ; ; Wherein, is the longitude difference between the target position and the current position; is the latitude difference between the target position and the current position; is the longitude of the target position; is the latitude of the target position; is the longitude of the current position; is the latitude of the current position.

[0048] Further, calculate the x coordinate of the target position through the following formula: ; Wherein, is the longitude difference between the target position and the current position; is the latitude of the current position.

[0049] Calculate the y coordinate of the target position through the following formula: ; Wherein, is the longitude difference between the target position and the current position.

[0050] Further, take the height where the target position is located as its z coordinate, thus obtaining the (x, y, z) coordinates of the target position. By calculating the current position (0, 0, Z0 ) and the target position (x, y, z) to get the travel distance.

[0051] (2) comparing the remaining cruising range with the driving distance, and if the remaining cruising range is less than the driving distance, resetting the target position; if the remaining cruising range is greater than or equal to the driving distance, calculating the flight azimuth, and controlling the bionic floating platform to fly according to the flight azimuth.

[0052] Specifically, the remaining cruising range of the bionic floating platform calculated previously is compared with the driving distance. When the remaining cruising range is less than the driving distance, it means that according to the current power status, the bionic floating platform cannot fly directly to the predetermined target location. At this time, it is necessary to reconsider a suitable target location. This new target location is usually selected within the remaining cruising range and should meet some of the requirements of the task as much as possible or facilitate further adjustments and energy replenishment before going to the original target location. The specific reset strategy will be determined according to the actual operation scenario and task requirements.

[0053] Furthermore, if the remaining cruising range is greater than or equal to the driving distance, it means that the bionic floating platform can fly to the target location from the perspective of power. The flight azimuth refers to the direction angle from the location of the bionic floating platform to the target location. The flight azimuth can be calculated by the following formula: ; in, is the flight azimuth; is the x coordinate value of the target position; The y coordinate value of the target position.

[0054] (3) Using a magnetometer to monitor the azimuth of the bionic floating platform in real time during flight, and comparing the azimuth with the flight direction. If the azimuth is inconsistent with the flight azimuth, determining the flight control instruction according to the azimuth deviation between the azimuth and the flight azimuth.

[0055] Specifically, the magnetometer can determine the current azimuth of the bionic floating platform by measuring the direction of the magnetic field. The azimuth reflects the direction of the bionic floating platform during actual flight. The real-time monitored azimuth is compared with the flight azimuth to see if the two are consistent. If they are inconsistent, it means that the actual flight direction of the bionic floating platform has deviated from the predetermined direction and needs to be corrected.

[0056] Further, calculate the azimuth deviation between the two. This deviation value accurately reflects the degree and direction of the platform's deviation from the target direction. Determine specific flight control commands based on the calculated azimuth deviation. The flight control commands are used to control the bionic floating platform to adjust its flight according to the direction in the flight control commands. For example, in one embodiment, if the azimuth deviation value shows that the bionic floating platform deviates to the left by a certain angle, then it is necessary to determine that the flight control command is to correct to the right by the same angle, so that it gradually returns to the correct flight direction indicated by the predetermined flight azimuth angle.

[0057] S105. Real-time monitor the real-time environmental parameters of the bionic floating platform, and predict the degree of flight path yaw based on the real-time environmental parameters and the real-time flight state parameters of the bionic floating platform.

[0058] Specifically, during flight, various sensors installed on the bionic floating platform (such as meteorological sensors, attitude sensors, position sensors, etc.) are used to continuously collect real-time parameters of the surrounding environment (such as real-time changes in wind speed and direction, temperature fluctuations, etc.) and real-time flight state parameters of the bionic floating platform itself (such as current flight speed, altitude, attitude angle, etc.). During the flight of the bionic floating platform, real-time monitor the environmental parameters of the bionic floating platform, regularly collect the environmental parameters, input the collected environmental parameters and flight state parameters into the corresponding prediction model, analyze the influence of external environmental factors and its own state changes on the flight path, and predict in advance the degree of deviation of the flight path from the predetermined path, that is, the degree of yaw. It should be noted that the prediction model is established in advance. The input of the prediction model is environmental parameters and flight state parameters, and the output of the prediction model is the degree of flight path yaw.

[0059] Further, when regularly collecting environmental parameters and flight state parameters, the time interval between two adjacent collection times is adaptively changed according to the flight state parameters. The steps for obtaining the collection time interval include: (1) First collect the flight state parameters according to a preset initial time interval. The flight state parameters include position, altitude, velocity vector, acceleration vector, azimuth angle, and rotational speed.

[0060] Specifically, when initially collecting parameters, the time interval for the first collection of parameters is a preset initial time interval. The corresponding flight state parameters are obtained through various sensors on the bionic floating platform, and these flight state parameters are recorded and stored.

[0061] (2) Calculate the time interval according to the first function. The first function is the functional relationship between the time interval, the amplitude value of the acceleration, and the amplitude value of the rotational speed.

[0062] Specifically, the first function can be expressed by the following formula: ; where is the time interval of the i-th flight state; is the time interval coefficient; is the amplitude value of the acceleration; is the amplitude value of the rotational speed.

[0063] (3) Calculate the next acquisition moment according to the time interval, and recalculate the time interval by using the flight state parameters acquired at the next acquisition moment.

[0064] Specifically, the next acquisition moment is the moment after the calculated time interval from the current moment, that is, starting from the current moment, the moment after the time interval is the next acquisition moment. At the next acquisition moment, the environmental parameters and flight state parameters are acquired, and the time interval is recalculated according to the acquired flight state parameters.

[0065] S106. Determine the adjustment margin based on the yaw degree of the flight path, where the adjustment margin is the adjustment amount of the flight direction.

[0066] Specifically, the adjustment margin refers to the specific value of the adjustment required for the flight direction. A large yaw degree may require a large adjustment margin; a small yaw degree corresponds to a small adjustment margin. The adjustment margin corresponding to the current flight path yaw degree can be directly found from the pre-established relationship table between the flight path yaw degree and the adjustment margin, and the bionic floating platform is adjusted using this adjustment margin.

[0067] S107. Calculate the adjustment energy consumption efficiency of each flight wing, and construct a multi-objective cost function with the lowest adjustment energy consumption and the shortest adjustment time for each flight wing.

[0068] Specifically, for each flight wing, analyze the energy consumption during attitude adjustment and the achievable adjustment effect, so as to calculate the corresponding adjustment energy consumption efficiency. The adjustment energy consumption efficiency refers to how much attitude or flight direction adjustment can be achieved per unit of energy consumption. The adjustment energy consumption efficiencies of different flight wings are different.

[0069] Further, construct a multi-objective cost function with the lowest adjustment energy consumption and the shortest adjustment time for each flight wing, including: (1) Obtain the angle between the wind direction and the flight azimuth angle during flight, and construct an adjustment energy consumption sum function according to the angle, the time interval, and the amplitude value of the velocity vector.

[0070] Specifically, the flow velocity and direction of the surrounding air are obtained through a wind speed sensor, and the adjusted energy consumption and function can be expressed by the following formula: ; wherein, is the total number of flight segments after different flight states are divided; is a constant related to air resistance, air density, and the stress area of the flight wing; is the angle between the wind direction and the flight azimuth angle; is the time interval that needs algorithm optimization; is the speed of the bionic floating system in a certain time period; is the environmental wind speed in a certain time period.

[0071] (2) Construct an adjustment time function according to the time interval.

[0072] Specifically, the adjustment time function can be expressed by the following formula: ; wherein, is the total number of flight segments after different flight states are divided; is the time interval that needs algorithm optimization.

[0073] (3) Perform weighted summation on the adjusted energy consumption and function and the adjustment time function to obtain the multi-objective cost function.

[0074] Specifically, the multi-objective cost function can be expressed by the following formula: ; wherein, is the weight of the adjusted energy consumption and function; is the adjusted energy consumption and function; is the adjustment time function.

[0075] Furthermore, it can be understood that the multi-objective cost function is constructed based on the energy consumption and flight time of the bionic floating platform, and its goal is to minimize the adjusted energy consumption of each flight wing and the shortest adjustment time.

[0076] S108. Solve the multi-objective cost function to obtain the optimal time interval coefficient for updating the control instruction , and the control instruction is the attitude adjustment direction and attitude adjustment amplitude of each flight wing in each time period.

[0077] Specifically, the coefficients are optimized through the simulated annealing algorithm. The simulated annealing algorithm is a widely used global optimization algorithm based on the principles of statistical mechanics. It simulates the atomic thermal motion during the annealing process of solid substances and searches for the global optimal solution by continuously reducing the system energy. The simulated annealing algorithm allows a certain probability of accepting inferior solutions during the search process. By gradually reducing the multi-objective cost function through random perturbation of the acceptance probability, it approaches the global optimum to avoid falling into local optimal solutions. The specific steps of the algorithm are as follows: (1) Initialize the temperature T and the system state interval time parameter solution; (2) At the current temperature, randomly perturb the current solution to obtain a new solution ; (3) Calculate the difference in the cost function of the new solution Δ = ; (4) If Δ < 0, accept the new solution as the current solution; (5) If Δ > 0, accept the new solution with a probability P = exp(-Δ / T) ; (6) Reduce the temperature T and repeat steps (2)-(5) until the stopping condition is met, and then obtain the optimal time interval coefficient. It should be noted that the stopping condition is set according to actual needs and is not restricted in this embodiment.

[0078] Furthermore, the optimal control instruction corresponding to each time period is the attitude adjustment direction (such as whether the wing tilts to the left or right, which direction the flapping wing flaps, etc.) and the attitude adjustment amplitude (such as how many degrees the wing tilts, the amplitude of the flapping wing flapping, etc.) of each flying wing, that is, the specific control instruction that can make the bionic floating platform correct the flight path deviation in an optimal manner.

[0079] Furthermore, solving the multi-objective cost function to obtain the optimal control instruction for the entire flight process includes: (1) Select the first candidate flying wings from the multiple different types of flying wings according to the direction of the adjustment margin, and the number of the first candidate flying wings is multiple.

[0080] Specifically, in combination with the above description, the adjustment margin clarifies the adjustment amount and direction required for the flight direction. Based on this, select the flapping wings on both sides that can play a key role in this direction adjustment as the main working flapping wings. For example, if the adjustment margin indicates that a certain angle of adjustment is required to the left, then the flapping wing on the right side of the bionic floating platform flaps back and forth to generate a leftward thrust. By accurately positioning the flying wings (the first candidate flying wings) related to the adjustment direction, it avoids calculating all flying wings indiscriminately, greatly reducing the energy consumption of the bionic floating platform, and at the same time making the adjustment direction more targeted, which is conducive to quickly achieving accurate correction of the flight path.

[0081] (2) Calculate the attitude adjustment direction and amplitude for each first candidate flying wing to individually complete the adjustment margin.

[0082] Specifically, for each flying wing among the first candidate flying wings, calculate the attitude adjustment direction (such as the angle direction by which the wing should tilt, the flapping angle direction of the flapping wing, etc.) and amplitude (such as specific tilt degrees, flapping amplitude values, etc.) for it to individually complete the adjustment margin. Based on parameters such as the dynamic efficiency and lift coefficient of this flying wing, combined with the adjustment margin, the attitude adjustment direction and amplitude can be calculated. For the specific implementation steps of calculating the attitude adjustment direction and amplitude, please refer to the descriptions in related technologies and will not be elaborated here.

[0083] (3) During the iterative solution process, narrow down the attitude adjustment direction and amplitude of each first candidate flying wing, combine the first candidate flying wings, and solve for the optimal combination method of the multi-objective cost function. The optimal combination method includes some flying wings selected from the multiple first candidate flying wings, and also includes the attitude adjustment direction and amplitude of each flying wing.

[0084] Specifically, considering that not all first candidate flying wings need to operate at maximum capacity during actual flight, for the purpose of flight inspection with the lowest energy consumption and shortest flight time, through the optimization and combination of flight behaviors, energy waste caused by excessive adjustment is avoided, and at the same time, the adjustment time is shortened, enabling the bionic floating platform to return to the predetermined flight path faster, enhancing the timeliness and economy in dealing with flight path yaw.

[0085] (4) Detect the real-time flight environment of each flying wing in the optimal combination method, and the real-time flight environment of each flying wing is different.

[0086] Specifically, since the positions of the flying wings are different during flight, there are differences in real-time flight environment factors such as the air flow speed, pressure, and temperature around them. Therefore, after determining the optimal combination method, the environmental parameters of these flying wings can be monitored in real time through sensors installed near each flying wing, accurately grasping the actual flight conditions faced by each flying wing of the bionic flight system. This provides a practical basis for subsequent precise adjustment, enabling the adjustment of the flying wing attitude to fully consider the actual environment it is in, avoiding poor adjustment effects or even counterproductive results caused by ignoring local environmental differences due to unified adjustment, and improving the accuracy and effectiveness of the adjustment.

[0087] Further, in a possible implementation manner, when the wind direction is the same as the flight direction, flight can be carried out by simply spreading the wings and gliding without the need to activate the flapping wings.

[0088] (5) Adjust the attitude adjustment direction and amplitude in the optimal combination mode according to the real-time flight environment.

[0089] Specifically, during the flight, according to the detected real-time flight environment of each flight wing, fine-tune the attitude adjustment direction and amplitude in the previously determined optimal combination mode. For example, if the air wind direction of the environment where a certain flight wing is located suddenly changes, it is necessary to fine-tune the attitude adjustment direction according to the air flow direction to ensure that the flight wing can still contribute to the realization of the flight path as expected in the current environment. By further optimizing the flight attitude adjustment, the bionic floating platform can always maintain good flight performance in the complex and changeable flight environment, be able to fly more precisely and stably along the predetermined flight path, while taking into account energy conservation and efficiency, and maximizing the completion quality and success rate of the operation task.

[0090] S109. Control the flight attitude of the bionic floating platform according to the control instruction, so that when the bionic floating platform completes the operation task, the deviation between the actual flight path and the flight path is less than the safety threshold.

[0091] Specifically, send the obtained optimal control instruction to the action system, drive each flight wing to act according to the attitude adjustment direction and amplitude specified in the instruction, so as to precisely adjust the flight attitude of the floating platform and correct the deviation of the flight path. In addition, through continuous monitoring, prediction, and adjustment, the deviation between the actual flight path and the initially planned flight path of the bionic floating platform during the entire process of executing the operation task is always kept within a safe range, that is, the deviation between the actual flight path and the flight path is less than the safety threshold. It should be noted that the safety threshold is set according to actual needs and is not limited in this embodiment.

[0092] The bionic floating platform operation method provided in this embodiment can ensure that each system is in a normal working state by initializing the bionic floating platform, providing a stable basis for the subsequent task execution, and judging the effectiveness of the operation task based on the state information and real-time environmental information after the platform is initialized, and can screen out the tasks that cannot be completed in advance, avoid waste of resources, and improve the rationality of task planning. Only tasks that can be effectively executed are started, making the entire operation process more scientific, reducing equipment loss and task delays caused by unreasonable task arrangements. Secondly, the effectiveness of the operation task is judged, and the initialization configuration information is adjusted according to the judgment result, so that the bionic floating platform can better adapt to the task requirements and environmental characteristics, and then the flight path is determined according to the operation task and the adjusted configuration, so that the path planning is more targeted, and finally the flight control instructions are calculated according to the flight path and the action system action is controlled, so as to achieve precise flight control. According to the requirements of the path, the actions of each flying wing can be accurately controlled, so that the floating platform can fly according to the predetermined route, and the accuracy and efficiency of the flight are improved. Through precise control instructions, the platform can fly to the target position more accurately, and reasonably use energy during the flight process, reducing unnecessary flight distance and energy consumption. Furthermore, during the flight, the bionic floating platform is adjusted for flight attitude and path correction, and the environmental parameters and flight status parameters are monitored in real time. The changes in the flight process can be grasped in time, and the adjustment margin can be determined according to the degree of flight path yaw. The adjustment amount of the flight direction can be quantified, making the attitude adjustment more accurate. The energy consumption efficiency of each flight wing adjustment is calculated and a multi-objective cost function is constructed. The energy consumption and time cost in the adjustment process are considered. The multi-objective cost function is solved to obtain the optimal control instructions. While ensuring the effective adjustment of the flight attitude, the energy consumption and adjustment time are optimized, and energy-saving and efficient flight adjustment is achieved. In the process of optimizing the flight, the optimal energy consumption and adjustment time are selected, which prolongs the endurance of the platform and improves the timeliness of the adjustment, so that the platform can return to the correct flight path faster. On the whole, the deviation between the actual flight path and the planned flight path is less than the safety threshold, which can ensure that the platform completes the task safely and accurately, and improves the quality and reliability of the task. Whether it is data collection, material transportation or other tasks, they can be completed within the specified requirements and safety range, enhancing the practicality of the bionic floating platform in various operation scenarios.

[0093] Corresponding to the aforementioned embodiment of a bionic floating platform operation method, the present application also provides an embodiment of a bionic floating platform.

[0094] The bionic floating platform provided in this embodiment is used to implement the method according to the first aspect of the present application, and the bionic floating platform includes a floating system and a motion system; The floating system is used to provide buoyancy support and loading equipment; The action system is used to drive the floating system to fly; the action system includes a first flapping wing, a second flapping wing, a wing and a tail wing.

[0095] A heating module is installed inside the floating system, and the heating module is used to heat the gas inside the floating system to increase the buoyancy of the bionic floating platform; A battery compartment and a slide rail are also installed inside the floating system. The battery compartment is installed on the slide rail. The battery compartment is used to store electrical energy and change the center of gravity of the bionic floating platform. The battery compartment is used when the bionic floating platform needs to perform a gliding action. Move forward through the slide rail to lower the center of gravity of the bionic floating platform so that the bionic floating platform glides downward.

[0096] The bionic floating platform of this embodiment can be used to execute Figure 1 the steps of the method embodiment shown. The specific implementation principle and process are similar and will not be elaborated here.

[0097] The above are only the preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included within the scope of protection of the present application.

Claims

1. A bionic floating platform operation method, characterized in that: The method comprises: Initializing the bionic floating platform, wherein the bionic floating platform includes a floating system and a motion system disposed outside the floating system and driving the floating system to fly, wherein the motion system includes a plurality of different types of flying wings; Receiving an operation task, and judging the validity of the operation task based on the state information of the bionic floating platform after initialization and the real-time environment information; If the operation task is valid, adjusting the initialization configuration information of the bionic floating platform according to the judgment result, and determining the flight path according to the operation task and the adjusted initialization configuration; Calculate flight control instructions according to the flight path, control the motion system to drive the bionic floating platform to fly; monitoring the real-time environmental parameters of the bionic floating platform in real time, and predicting the degree of flight path deviation based on the real-time environmental parameters and the real-time flight state parameters of the bionic floating platform; Determining an adjustment margin based on the degree of yaw of the flight path, the adjustment margin being an adjustment amount of the flight direction; Calculate the energy consumption efficiency of each flight wing adjustment, and construct a multi-objective cost function with the lowest energy consumption and shortest adjustment time for each flight wing; Solving the multi-objective cost function to obtain an optimal control instruction, wherein the optimal control instruction is an attitude adjustment direction and an attitude adjustment amplitude of each flying wing; The flight posture of the bionic floating platform is controlled according to the control instruction, so that when the bionic floating platform completes the operation task, the deviation between the actual flight path and the flight path is less than a safety threshold.

2. The method according to claim 1, characterized in that The floating system is filled with gas so that the weight of the bionic floating platform is less than the gravity it is subjected to. The floating system generates lift through the flying wing and rises. During the ascent, the work done by the flying wing is less than the work required to lift the object to the same height. The belly region of the floating system is provided with a variable volume structure, and the variable volume structure is used to change the volume of the belly region. Under different volumes, the work done by the flying wing to drive the floating system to fly to the same height is different; The multiple different types of flying wings include at least: a first flapping wing, a second flapping wing, a wing and a tail wing; the wing is symmetrically installed on both sides of the floating system, the first flapping wing is symmetrically installed on the wing, the second flapping wing is installed at the tail of the floating system, and the tail wing is installed on the back of the floating system near the tail area.

3. The method according to claim 1, characterized in that Initializing the bionic floating platform comprises: Obtaining the remaining power and position coordinates of the bionic floating platform at the current position; The bionic floating platform performs a self-check to check whether each hardware function is normal; If all hardware functions are normal, the remaining power and the position coordinates are transmitted to the ground station, and the ground station configures the operation task for the bionic floating platform according to the remaining power and the position coordinates.

4. The method according to claim 1, characterized in that The determining the validity of the task includes: Calculating the operation distance according to the target position in the operation task and the position coordinates; Obtaining environmental information of the area where the operation distance passes, and calculating the regional environmental value according to the environmental information; Calculating the remaining cruising range of the bionic floating platform according to the remaining power of the bionic floating platform; Taking the remaining cruising range as a first evaluation indicator, evaluating the operating distance using the first evaluation indicator to obtain a first evaluation result; Taking the regional environmental value threshold as a second evaluation index, using the second evaluation index to evaluate the regional environmental value to obtain a second evaluation result; The effectiveness of the operation task is determined based on the first evaluation result and the second evaluation result.

5. The method according to claim 1, characterized in that The calculating of the flight control instructions according to the flight path comprises: Taking the current location of the bionic floating platform as the origin, the target location coordinates and the travel distance are calculated according to the latitude and longitude information; Comparing the remaining cruising range with the driving distance, if the remaining cruising range is less than the driving distance, resetting the target position; if the remaining cruising range is greater than or equal to the driving distance, calculating the flight azimuth, and controlling the bionic floating platform to fly according to the flight azimuth; A magnetometer is used to monitor the azimuth of the bionic floating platform in real time during flight, and the azimuth is compared with the flight direction. If the azimuth is inconsistent with the flight azimuth, the flight control instruction is determined according to the azimuth deviation between the azimuth and the flight azimuth.

6. The method according to claim 1, characterized in that The method comprises: Collecting the flight state parameters for the first time according to a preset initial time interval, wherein the flight state parameters include position, altitude, velocity vector, acceleration vector, azimuth angle, and rotation speed; Calculating the time interval according to a first function, wherein the first function is a functional relationship between the time interval and the amplitude value of the acceleration and the amplitude value of the rotation speed; The next collection time is calculated according to the time interval, and the time interval is recalculated using the flight status parameters collected at the next collection time.

7. The method according to claim 1, characterized in that Construct a multi-objective cost function for adjusting each flight wing to the minimum energy consumption and the shortest adjustment time; including: Acquire the angle between the wind direction and the flight azimuth during the flight, and construct an adjustment energy consumption function according to the angle, the time interval, and the amplitude value of the velocity vector; constructing an adjustment time function according to the time interval; The adjusted energy consumption sum function and the adjusted time function are weightedly summed to obtain the multi-objective cost function.

8. The method according to claim 1, characterized in that The step of solving the multi-objective cost function to obtain an optimal control instruction includes: Selecting a first candidate flying wing from the plurality of different types of flying wings according to the direction of the adjustment margin, wherein the number of the first candidate flying wings is multiple; Calculating the attitude adjustment direction and attitude adjustment amplitude of each first candidate flying wing to complete the adjustment margin individually; In the iterative solution process, the attitude adjustment direction and attitude adjustment amplitude of each first candidate flying wing are narrowed, each first candidate flying wing is combined, and the optimal combination mode of the multi-objective cost function is solved, wherein the optimal combination mode includes a part of the flying wings selected from the plurality of first candidate flying wings, and also includes the attitude adjustment direction and attitude adjustment amplitude of each flying wing; Detecting the real-time flight environment of each flying wing in the optimal combination mode, where the real-time flight environment of each flying wing is different; The attitude adjustment direction and attitude adjustment amplitude in the optimal combination method are adjusted according to the real-time flight environment.

9. A bionic floating platform, characterized in that: The bionic floating platform is used to implement any one of the methods described in claims 1-8, and the bionic floating platform includes a floating system and a motion system; The floating system is used to provide buoyancy support and loading equipment; The motion system is used to drive the floating system to fly; the motion system includes a first flapping wing, a second flapping wing, a wing and a tail wing.

10. The bionic floating platform according to claim 9, characterized in that: A heating module is installed inside the floating system, and the heating module is used to heat the gas inside the floating system to increase the buoyancy of the bionic floating platform; A battery compartment and a slide rail are also installed inside the floating system. The battery compartment is installed on the slide rail. The battery compartment is used to store electrical energy and change the center of gravity of the bionic floating platform. The battery compartment is used to move the slide rail forward when the bionic floating platform needs to glide, so that the center of gravity of the bionic floating platform is downward, so that the bionic floating platform can glide downward.

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